CN104753439B - A kind of PID intelligent speed-regulating methods of motor - Google Patents
A kind of PID intelligent speed-regulating methods of motor Download PDFInfo
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- CN104753439B CN104753439B CN201510137263.1A CN201510137263A CN104753439B CN 104753439 B CN104753439 B CN 104753439B CN 201510137263 A CN201510137263 A CN 201510137263A CN 104753439 B CN104753439 B CN 104753439B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000008569 process Effects 0.000 claims abstract description 21
- 238000012937 correction Methods 0.000 claims abstract description 8
- 238000005457 optimization Methods 0.000 claims abstract description 5
- 238000012545 processing Methods 0.000 claims abstract description 3
- 238000013139 quantization Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 6
- 230000001965 increasing effect Effects 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000011002 quantification Methods 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 description 5
- 230000009514 concussion Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/045—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
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- Engineering & Computer Science (AREA)
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- Feedback Control In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of PID intelligent speed-regulating methods of motor, including：Step 1) sets the predetermined running curve of motor, and control signal is produced according to the predetermined running Curve transform；Step 2) motor is according to the control signal startup optimization；Step 3) is monitored in real time to the running status of motor, and obtains surveying rotating speed；Step 4) compares rotating speed of target determined by predetermined running curve with surveying the difference of rotating speed, obtains speed difference value；Step 5) judges speed difference value whether in the range of normal deviate, if in the range of normal deviate, does not adjust, returns to step 3), until motor operation terminates；If beyond normal deviate scope, pid algorithm processing is carried out according to the speed difference value, produces and corrects control signal, motor carries out adjustment of rotational speed according to the correction control signal, returns to step 3).The speed regulation process of the present invention is precise and stable, and method of adjustment is more simple and quick.
Description
Technical field
The present invention relates to a kind of control method of motor, the PID intelligent speed-regulating methods of particularly a kind of motor.
Background technology
Frequency-conversion and speed-regulation motor is applied in various industrial circles more and more widely, with the development of electronic technology, electricity
The control actuation techniques of motivation are increasingly mature so that motor preferably serves each application field, plays very important
Effect.
At present, the control mode of motor has been developed into from initial switch control and automatically controlled, and is being automatically controlled
In field, most common is exactly opened loop control, and particularly in frequency control drive system, frequency converter is according to the control of outside input
Instruction adjustment output exciting current, so as to control the operation of motor, however, such a open loop control mode need to rely on it is outside and
When the instruction that inputs, when the running environment of motor changes, often result in the actual motion state of motor with it is described
The target operation state that external command to be reached produces deviation so that the operational effect of motor declines.In Motor Control
Field, in order to solve the drawbacks of open loop control mode, frequently with close-loop control mode, and such a control mode control process is answered
It is miscellaneous, limit its application in motor industrial control field.
The content of the invention
For above-mentioned technical problem, the invention discloses a kind of PID intelligent speed-regulating methods of motor, first split-phase motor
The deviation of rotating speed and rotating speed of target is surveyed, according to deviation size to accurately adjustment and fuzzy adjustment should be carried out to motor, so as to
Rotating speed deviation is corrected, the drawbacks of efficiently solving motor open loop control mode, while the control mode letter of the present invention
It is single practical.
In order to realize according to the purpose of the present invention, there is provided a kind of PID intelligent speed-regulating methods of motor, including：
Step 1) sets the predetermined running curve of motor, and control signal is produced according to the predetermined running Curve transform；Step
Rapid 2) motor is according to the control signal startup optimization；Step 3) is monitored in real time to the running status of motor, and obtains reality
Survey rotating speed；Step 4) compares rotating speed of target determined by predetermined running curve with surveying the difference of rotating speed, obtains speed difference value；
Step 5) judges speed difference value whether in the range of normal deviate, if in the range of normal deviate, does not adjust, and returns
To step 3), until motor operation terminates；If beyond normal deviate scope, PID is carried out according to the speed difference value
Algorithm process, produce and correct control signal, motor carries out adjustment of rotational speed according to the correction control signal, returns to step 3), directly
It is in the speed difference value in the range of normal deviate, adjustment terminates.
Preferably, the method for the algorithm process is：Control signal in step 1) is carried out quantification treatment by step a), is obtained
To digital quantization value；If step b) the speed difference values are in fine setting section, the digital quantization value is carried out accurate
Adjustment；If the speed difference value carries out fuzzy adjustment beyond fine setting section to the digital quantization value.
Preferably, the normal deviate scope is set as (- 5%a~+5%a), and a is the rotating speed of target, and "-" represents real
Survey rotating speed hysteresis rotating speed of target, "+" represent actual measurement rotating speed exceed rotating speed of target, set it is described finely tune section as [- 10%a~-
5%a] and [+5%a~+10%a].
Preferably, the mode that accurately adjusts is：According to the size of the speed difference value, a stepping-in amount is produced,
Steppingly increased or decrease the digital quantization value；The mode of the fuzzy adjustment is：According to the size of the difference value, production
A raw proportional quantities, increaseds or decreases to proportion expression the digital quantization value.
Preferably, the predetermined running curve is set by human-computer interaction interface.
Preferably, control module is provided with, it receives the predetermined running curve, and changes and produce the control signal.
Preferably, frequency converter is provided with, it receives the control signal to control the exciting current of output, and motor is according to institute
Exciting current is stated to run.
Preferably, motor operating state is monitored in real time by encoder, monitoring signals is fed back into the control
In module, and the real time execution curve of motor is included on the human-computer interaction interface.
Preferably, control module scope according to residing for the detection signal judges speed difference value, and described in progress
Algorithm process, produce correction control signal and be sent to the frequency converter.
The present invention comprises at least following beneficial effect：A kind of PID intelligent speed-regulating methods of the motor provided,
1st, speed difference value is judged twice, and carries out corresponding rough adjustment and accurate adjustment, regulated the speed more
It is fast more accurate；
2nd, effectively avoid adjustment amplitude excessive, cause the concussion repeatedly of adjustment process；
3rd, adjustment and accurate adjustment roughly cooperates, and avoids frequent operation and avoids adjusting by a relatively large margin；
4th, digital quantization is carried out to controlled quentity controlled variable, so as to be adjusted to digital quantized value, effectively prevent ambient noise shadow
Ring；
5th, such a speed regulating method strong antijamming capability, so as to ensure that adjustment process overall quick, high stability；
6th, the algorithm process of adjustment process is simple, and cost of implementation is low.
Further advantage, target and the feature of the present invention embodies part by following explanation, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Brief description of the drawings
Fig. 1 is the speed regulating method schematic flow sheet of the present invention；
Fig. 2 is the schematic flow sheet of the algorithm process.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to make those skilled in the art with reference to specification text
Word can be implemented according to this.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein do not allot one or more
The presence or addition of individual other elements or its combination.
As shown in Fig. 1 according to the present invention a kind of way of realization, including：
Step 1) sets the predetermined running curve of motor, can determine different operation curves in scene as needed, also may be used
The motor conventional operation curve carried with selecting system, control signal is produced according to the predetermined running Curve transform；Step
2) control program is started, motor is according to the control signal startup optimization；Step 3) is supervised in real time to the running status of motor
Survey, and obtain surveying rotating speed and the relation curve of run time；Step 4) can learn real-time mesh according to predetermined running curve
Rotating speed is marked, the difference of comparison object rotating speed and actual measurement rotating speed, obtains speed difference value；Step 5) is according to scene to motor running
Precision requirement, set the normal deviate scope of motor running, judge speed difference value whether in the range of normal deviate,
If in the range of normal deviate, do not adjust, return to step 3), until motor operation terminates；If beyond normal
Deviation range, then pid algorithm processing is carried out according to the size of the speed difference value, produce correction control signal and feed back to electricity
On machine, motor carries out adjustment of rotational speed according to the correction control signal, returns to step 3), until the speed difference value is in just
In normal deviation range, adjustment terminates.Such a speed regulating method strong antijamming capability, so as to ensure that adjustment process it is overall it is quick,
High stability；
As shown in Fig. 2 in above-mentioned technical proposal, the method for the algorithm process is：Step a) is by the control in step 1)
Signal carries out quantification treatment, obtains digital quantization value；Digital quantization is carried out to controlled quentity controlled variable, so as to be adjusted to digital quantized value
It is whole, it effectively prevent the interference effect of environment；Step b) rotating speeds beyond normal deviate scope, by beyond scope be divided into again
Two regions：Section is finely tuned and beyond fine setting section, if the speed difference value is in fine setting section, to the numeral
Quantized value is accurately adjusted so that rotating speed deviation is revert in the range of normal deviate；If the speed difference value is beyond micro-
Section is adjusted, fuzzy adjustment is carried out to the digital quantization value so that rotating speed deviation is revert in fine setting section, and then is done again accurate
Adjustment so that rotating speed deviation is ultimately in rated speed deviation range, and adjustment finishes.Speed difference value is sentenced twice
It is disconnected, and corresponding rough adjustment and accurate adjustment are carried out, regulate the speed faster more accurate；Effectively avoid adjustment amplitude mistake simultaneously
Greatly, the concussion repeatedly of adjustment process is caused；Rough adjustment and accurate adjustment cooperate, and avoid frequent operation and avoid larger amplitude
Degree regulation；
In another example, on the basis of above-mentioned way of realization, the normal deviate scope is set as (- 5%a
~+5%a), a is the rotating speed of target, and "-" represents actual measurement rotating speed hysteresis rotating speed of target, and "+" represents that actual measurement rotating speed exceeds target
Rotating speed, speed discrepancy is in this region, without carrying out adjustment of rotational speed to motor.Set it is described fine setting section as [- 10%a~-
5%a] and [+5%a~+10%a], speed discrepancy is in this region, it is necessary to the accurate adjustment of rotating speed be carried out to motor, until turning
Speed difference is revert in the range of normal deviate, and speed discrepancy does not include (- 5%a~+5%a) region, it is necessary to electricity beyond this scope
Machine carries out the rough adjustment of rotating speed, until speed discrepancy is revert in fine setting section, and then in the accurate adjustment for carrying out rotating speed, until
Speed discrepancy is revert in the range of normal deviate, and adjustment finishes.It is understood that the setting in this embodiment is one kind side
Formula is, it is specified that scope can need to carry out certain variation according to scene.
In above-mentioned technical proposal, the concrete mode that accurately adjusts is：According to the size of the speed difference value, produce
One stepping-in amount, the digital quantization value is steppingly increasedd or decreased, for example speed discrepancy is -6%a, then can set stepping
Measure as the 2% of now digital quantization value, digital quantization value now is added up by this stepping-in amount immediately, until speed discrepancy returns
It is grouped into the range of normal deviate；The concrete mode of the fuzzy adjustment is：According to the size of the difference value, a ratio is produced
Amount, increaseds or decreases to proportion expression the digital quantization value, for example speed discrepancy is -15%a, then can be using setting ratio amount as now
1.15 times of digital quantization value, digital quantization value now is increased with carrying out proportion expression by this proportional quantities immediately, until rotating speed
Difference is revert in fine setting section, and then in the accurate adjustment for carrying out rotating speed, until speed discrepancy is revert in the range of normal deviate, is adjusted
It is whole to finish.
In above-mentioned technical proposal, the predetermined running curve, such as touch-screen or computer are set by human-computer interaction interface
Display terminal.
In above-mentioned technical proposal, control module, such as PLC or chip etc. are provided with, it receives the predetermined running curve,
And change and produce the control signal, and digital quantization is carried out to the strong and weak of control signal.Frequency converter is provided with, described in its reception
Digital quantization value controls the power of the exciting current of output, and the size of exciting current is directly proportional to the rotating speed of motor, motor root
Run according to the exciting current.
In above-mentioned technical proposal, motor operating state is monitored in real time by encoder, monitoring signals are fed back to
In the control module, and the real time execution curve of motor is included on the human-computer interaction interface, so as to will be apparent that
Contrast actual measurement rotating speed and rotating speed of target difference.The control module is according to residing for the detection signal judges speed difference value
Scope, and the algorithm process is carried out, produce and correct control signal and be sent to the frequency converter, frequency converter is according to correction signal
The size of adjustment exciting current in real time, so as to complete Speed Process of DC Motor.
As described above, the PID intelligent speed-regulating methods of the motor of the present invention, solve and efficiently solve motor open loop control
The drawbacks of mode, by being judged twice speed difference value, and carry out corresponding rough adjustment and accurate adjustment, adjustment speed
Degree is faster more accurate；Effectively avoid adjustment amplitude excessive, cause the concussion repeatedly of adjustment process；Rough adjustment and accurate adjustment phase
Mutually coordinate, avoid frequent operation and avoid adjusting by a relatively large margin；Digital quantization is carried out to controlled quentity controlled variable, so as to enter to digital quantized value
Row adjustment, it effectively prevent environment influence；Such a speed regulating method strong antijamming capability, so as to ensure that the fast of adjustment process totality
Speed, high stability；The algorithm process of adjustment process is simple, and cost of implementation is low, has huge practical value.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With it can be applied to various suitable the field of the invention completely, can be easily for those skilled in the art
Other modification is realized, therefore under the universal limited without departing substantially from claim and equivalency range, it is of the invention and unlimited
In specific details and shown here as the legend with description.
Claims (3)
1. a kind of PID intelligent speed-regulating methods of motor, it is characterised in that including：
Step 1) sets the predetermined running curve of motor, and control signal is produced according to the predetermined running Curve transform；
Step 2) motor is according to the control signal startup optimization；
Step 3) is monitored in real time to the running status of motor, and obtains surveying rotating speed；
Step 4) compares rotating speed of target determined by predetermined running curve with surveying the difference of rotating speed, obtains speed difference value；
Step 5) judges speed difference value whether in the range of normal deviate, if in the range of normal deviate, does not adjust
It is whole, step 3) is returned to, until motor operation terminates；If beyond normal deviate scope, entered according to the speed difference value
The processing of row pid algorithm, produce and correct control signal, motor carries out adjustment of rotational speed according to the correction control signal, returns to step
3), until the speed difference value is in the range of normal deviate, adjustment terminates；
The predetermined running curve of described setting motor, is set by human-computer interaction interface；
Described motor is according to control signal startup optimization, by setting control module, the predetermined running that is received
Curve transform is into the control signal；
Described predetermined running Curve transform into control signal, by setting frequency converter, by the control signal received come
The exciting current of output is controlled, motor is run according to the exciting current；
The method of the algorithm process is：
Control signal in step 1) is carried out quantification treatment by step a), obtains digital quantization value；
If step b) the speed difference values are in fine setting section, the digital quantization value is accurately adjusted；If
The speed difference value carries out fuzzy adjustment beyond fine setting section to the digital quantization value；
The normal deviate scope is set as (- 5%a~+5%a), a is the rotating speed of target, and "-" represents actual measurement rotating speed hysteresis
Rotating speed of target, "+" represent that actual measurement rotating speed exceeds rotating speed of target, set the fine setting section as [- 10%a~-5%a] and [+5%
A~+10%a]；
The mode that accurately adjusts is：According to the size of the speed difference value, a stepping-in amount is produced, is steppingly increased
Or reduce the digital quantization value；
The mode of the fuzzy adjustment is：According to the size of the difference value, a proportional quantities is produced, increases to proportion expression and adds deduct
The small digital quantization value.
2. the PID intelligent speed-regulating methods of motor as claimed in claim 1, it is characterised in that by encoder to motor operation
State is monitored in real time, and monitoring signals are fed back in the control module, and the real time execution curve of motor is included
On the human-computer interaction interface.
3. the PID intelligent speed-regulating methods of motor as claimed in claim 2, it is characterised in that the control module is according to
Monitoring signals judge scope residing for speed difference value, and carry out the algorithm process, produce correction control signal and are sent to institute
State frequency converter.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510137263.1A CN104753439B (en) | 2015-03-26 | 2015-03-26 | A kind of PID intelligent speed-regulating methods of motor |
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| CN201510137263.1A CN104753439B (en) | 2015-03-26 | 2015-03-26 | A kind of PID intelligent speed-regulating methods of motor |
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| CN104753439A CN104753439A (en) | 2015-07-01 |
| CN104753439B true CN104753439B (en) | 2018-03-06 |
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| CN105915146B (en) * | 2016-06-06 | 2018-04-17 | 深圳创维空调科技有限公司 | A kind of PG motor operations adjusting method and regulating system |
| WO2018119844A1 (en) * | 2016-12-29 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Numerically-controlled machine tool and rotation speed adjustment method for spindle motor thereof |
| CN108039845A (en) * | 2017-12-22 | 2018-05-15 | 中国科学院长春光学精密机械与物理研究所 | A kind of motor speed control method, apparatus and system |
| CN110460293A (en) * | 2019-08-23 | 2019-11-15 | 杭州宝协机电有限公司 | A kind of servo control system and its control method with monitoring function |
| CN113587350A (en) * | 2021-07-30 | 2021-11-02 | 广东积微科技有限公司 | PG motor control method, control system and air conditioner |
| CN115009281A (en) * | 2022-07-08 | 2022-09-06 | 质子汽车科技有限公司 | Gear shifting control method and device and gearbox controller |
| CN115388432B (en) * | 2022-10-27 | 2023-01-10 | 广东尚研电子科技股份有限公司 | Microwave oven power adjustment method, microwave oven, related equipment and storage medium |
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| CN1076142C (en) * | 1997-12-24 | 2001-12-12 | 株式会社日立制作所 | Method for control speed of induction motor |
| CN2805216Y (en) * | 2005-05-23 | 2006-08-09 | 何迪 | Soft starter for electric motor |
| CN101069958A (en) * | 2007-05-09 | 2007-11-14 | 浙江工业大学 | Crystal-chip polishing method |
| CN102865358A (en) * | 2012-09-28 | 2013-01-09 | 湖南南车时代电动汽车股份有限公司 | AMT (Automated Mechanical Transmission) motor control method and system for hybrid electric vehicle |
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2015
- 2015-03-26 CN CN201510137263.1A patent/CN104753439B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1076142C (en) * | 1997-12-24 | 2001-12-12 | 株式会社日立制作所 | Method for control speed of induction motor |
| CN2805216Y (en) * | 2005-05-23 | 2006-08-09 | 何迪 | Soft starter for electric motor |
| CN101069958A (en) * | 2007-05-09 | 2007-11-14 | 浙江工业大学 | Crystal-chip polishing method |
| CN102865358A (en) * | 2012-09-28 | 2013-01-09 | 湖南南车时代电动汽车股份有限公司 | AMT (Automated Mechanical Transmission) motor control method and system for hybrid electric vehicle |
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